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right_arm 211/299 帧开度 >1.0（max=1.1586）。采集侧不截断、下发侧 clip 到 1.0，这些标签真机最多少开 11.1mm，且不会报错", + "blurry: cam_high 16/33 sampled frames below Laplacian var 100.0 (human review)" + ], + "frames": 299, + "metrics": { + "schema": { + "task_name": "Cover the building block with a cup, then lift up the cup covering the block.", + "freq": 30.0, + "cams": { + "cam_high": [ + 480, + 640, + 3 + ] + }, + "arms": { + "right_arm": 6 + }, + "eef": [ + "right_arm" + ] + }, + "arms": { + "right_arm": { + "joint_step_max_rad": 0.048014044761657715, + "eef_step_max_m": 0.014216230250895023, + "rot_step_max_rad": 0.04579163305049163, + "rot_vs_joint_max_rad": 0.0005681178572029041, + "euler_wrap": 0, + "gripper_min": 0.7599999904632568, + "gripper_max": 1.158571481704712, + "gripper_over_full": 211 + } + }, + "timestamps": { + "cam_high": { + "cache_age_p95_ms": 0.3018379211425778, + "capture_ts_reuse": 0, + "capture_receive_median_ms": 14.792919158935547, + "sync_lag_median_ms/right_arm": 15.015363693237305, + 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right_arm 124/274 帧开度 >1.0（max=1.2943）。采集侧不截断、下发侧 clip 到 1.0，这些标签真机最多少开 20.6mm，且不会报错", + "blurry: cam_high 22/30 sampled frames below Laplacian var 100.0 (human review)" + ], + "frames": 274, + "metrics": { + "schema": { + "task_name": "Cover the building block with a cup, then lift up the cup covering the block.", + "freq": 30.0, + "cams": { + "cam_high": [ + 480, + 640, + 3 + ] + }, + "arms": { + "right_arm": 6 + }, + "eef": [ + "right_arm" + ] + }, + "arms": { + "right_arm": { + "joint_step_max_rad": 0.05581560730934143, + "eef_step_max_m": 0.018031349405646324, + "rot_step_max_rad": 0.061068266541451977, + "rot_vs_joint_max_rad": 0.0016037280437722484, + "euler_wrap": 0, + "gripper_min": -0.009999999776482582, + "gripper_max": 1.2942856550216675, + "gripper_over_full": 124 + } + }, + "timestamps": { + "cam_high": { + "cache_age_p95_ms": 0.27371644973754883, + "capture_ts_reuse": 0, + "capture_receive_median_ms": 17.634987831115723, + "sync_lag_median_ms/right_arm": 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480, + 640, + 3 + ] + }, + "arms": { + "right_arm": 6 + }, + "eef": [ + "right_arm" + ] + }, + "arms": { + "right_arm": { + "joint_step_max_rad": 0.07464773207902908, + "eef_step_max_m": 0.014573291875422001, + "rot_step_max_rad": 0.07992967643760435, + "rot_vs_joint_max_rad": 0.0011235803489527663, + "euler_wrap": 5, + "gripper_min": 0.7442857027053833, + "gripper_max": 1.3342857360839844, + "gripper_over_full": 200 + } + }, + "timestamps": { + "cam_high": { + "cache_age_p95_ms": 0.26433467864990245, + "capture_ts_reuse": 0, + "capture_receive_median_ms": 14.772653579711914, + "sync_lag_median_ms/right_arm": 14.957189559936523, + "sync_jitter_p95_ms/right_arm": 2.4302005767822266 + } + }, + "images": { + "cam_high": { + "dup_ratio": 0.0, + "max_dup_run": 0, + "frozen": 0, + "dark": 0, + "bright": 0, + "flat": 0, + "blur_sampled": 30, + "blur": 16 + } + } + } + }, + "246.hdf5": { + "status": "warn", + "errors": [], + "warnings": [ + "euler_wrap: right_arm 2 ticks 欧拉分量数值跳变 >π 而物理旋转很小；robokit RLDS 用相对旋转算 delta 不受影响，任何直接对欧拉数值做差的消费方（旧转换脚本/曲线判读）会读到假跳变", + "gripper_clip_loss: right_arm 78/236 帧开度 >1.0（max=1.0800）。采集侧不截断、下发侧 clip 到 1.0，这些标签真机最多少开 5.6mm，且不会报错", + "blurry: cam_high 12/26 sampled frames below Laplacian var 100.0 (human review)" + ], + "frames": 236, + "metrics": { + "schema": { + "task_name": "Cover the building block with a cup, then lift up the cup covering the block.", + "freq": 30.0, + "cams": { + "cam_high": [ + 480, + 640, + 3 + ] + }, + "arms": { + "right_arm": 6 + }, + "eef": [ + "right_arm" + ] + }, + "arms": { + "right_arm": { + "joint_step_max_rad": 0.05054473876953125, + "eef_step_max_m": 0.0126985814422369, + "rot_step_max_rad": 0.04676668774702263, + "rot_vs_joint_max_rad": 1.998403707282958e-05, + "euler_wrap": 2, + "gripper_min": -0.009999999776482582, + "gripper_max": 1.0800000429153442, + "gripper_over_full": 78 + } + }, + "timestamps": { + "cam_high": { + "cache_age_p95_ms": 0.30177831649780273, + "capture_ts_reuse": 0, + 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"euler_wrap: right_arm 2 ticks 欧拉分量数值跳变 >π 而物理旋转很小；robokit RLDS 用相对旋转算 delta 不受影响，任何直接对欧拉数值做差的消费方（旧转换脚本/曲线判读）会读到假跳变", + "gripper_clip_loss: right_arm 136/302 帧开度 >1.0（max=1.1271）。采集侧不截断、下发侧 clip 到 1.0，这些标签真机最多少开 8.9mm，且不会报错", + "blurry: cam_high 16/33 sampled frames below Laplacian var 100.0 (human review)" + ], + "frames": 302, + "metrics": { + "schema": { + "task_name": "Cover the building block with a cup, then lift up the cup covering the block.", + "freq": 30.0, + "cams": { + "cam_high": [ + 480, + 640, + 3 + ] + }, + "arms": { + "right_arm": 6 + }, + "eef": [ + "right_arm" + ] + }, + "arms": { + "right_arm": { + "joint_step_max_rad": 0.055030226707458496, + "eef_step_max_m": 0.016276441514492035, + "rot_step_max_rad": 0.04851727994387543, + "rot_vs_joint_max_rad": 0.0007857677802340333, + "euler_wrap": 2, + "gripper_min": 0.3471428453922272, + "gripper_max": 1.1271429061889648, + "gripper_over_full": 136 + } + }, + "timestamps": { + "cam_high": { + "cache_age_p95_ms": 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>1.0（max=1.2429）。采集侧不截断、下发侧 clip 到 1.0，这些标签真机最多少开 17.0mm，且不会报错", + "blurry: cam_high 16/17 sampled frames below Laplacian var 100.0 (human review)" + ], + "frames": 157, + "metrics": { + "schema": { + "task_name": "Cover the building block with a cup, then lift up the cup covering the block.", + "freq": 30.0, + "cams": { + "cam_high": [ + 480, + 640, + 3 + ] + }, + "arms": { + "right_arm": 6 + }, + "eef": [ + "right_arm" + ] + }, + "arms": { + "right_arm": { + "joint_step_max_rad": 0.049584805965423584, + "eef_step_max_m": 0.012416662648320198, + "rot_step_max_rad": 0.052972558209995045, + "rot_vs_joint_max_rad": 1.558107771254015e-05, + "euler_wrap": 4, + "gripper_min": 0.758571445941925, + "gripper_max": 1.2428570985794067, + "gripper_over_full": 115 + } + }, + "timestamps": { + "cam_high": { + "cache_age_p95_ms": 0.2766132354736327, + "capture_ts_reuse": 0, + "capture_receive_median_ms": 16.19243621826172, + "sync_lag_median_ms/right_arm": 16.46137237548828, + 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